Linear estimation of the physical odometric parameters for differential-drive mobile robots.
Gianluca AntonelliStefano ChiaveriniPublished in: Auton. Robots (2007)
Keyphrases
- mobile robot
- parameter estimation
- closed form solutions
- maximum likelihood estimation
- angular velocity
- maximum likelihood
- linear model
- physical models
- path planning
- spatial filters
- dynamic environments
- nonlinear regression
- sensitivity analysis
- physical laws
- parametric models
- highly non linear
- nonlinear models
- mobile robotics
- simultaneous localization and map building
- robot localization
- rao bound
- real world
- unknown environments
- motion control
- parameter estimates
- topological map
- estimation process
- estimation accuracy
- accurate estimation
- estimation algorithm
- motion planning
- parameter values
- em algorithm
- expectation maximization
- probability distribution